Manipulability and redundancy control of robotic mechanisms
T Yoshikawa - … 1985 IEEE International Conference on Robotics …, 1985 - ieeexplore.ieee.org
Proceedings. 1985 IEEE International Conference on Robotics and …, 1985•ieeexplore.ieee.org
The concept of manipulability measure of robotic mechanisms is discussed. This is a
measure of manipulating ability of robotic mechanisms in positioning and orienting the end-
effectors. Some properties of this measure are established and the best postures of various
types of manipulators from the viewpoint of this measure are given. A four-joint wrist
mechanism is also analyzed with respect to its manipulability, and a control algorithm for this
redundant mechanism is developed.
measure of manipulating ability of robotic mechanisms in positioning and orienting the end-
effectors. Some properties of this measure are established and the best postures of various
types of manipulators from the viewpoint of this measure are given. A four-joint wrist
mechanism is also analyzed with respect to its manipulability, and a control algorithm for this
redundant mechanism is developed.
The concept of manipulability measure of robotic mechanisms is discussed. This is a measure of manipulating ability of robotic mechanisms in positioning and orienting the end-effectors. Some properties of this measure are established and the best postures of various types of manipulators from the viewpoint of this measure are given. A four-joint wrist mechanism is also analyzed with respect to its manipulability, and a control algorithm for this redundant mechanism is developed.
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